CN216707554U - Robot anticollision buffering subassembly - Google Patents

Robot anticollision buffering subassembly Download PDF

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Publication number
CN216707554U
CN216707554U CN202123142764.9U CN202123142764U CN216707554U CN 216707554 U CN216707554 U CN 216707554U CN 202123142764 U CN202123142764 U CN 202123142764U CN 216707554 U CN216707554 U CN 216707554U
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sliding
shaft sleeve
plate
slip ring
connecting rod
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CN202123142764.9U
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Chinese (zh)
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陶梦圆
桂冠
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Nanjing University of Posts and Telecommunications
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Nanjing University of Posts and Telecommunications
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Abstract

The utility model discloses a robot anti-collision buffer assembly which comprises a guardrail plate and a plurality of buffer parts, wherein each buffer part comprises a shaft sleeve and a connecting rod, a sliding plate, a sliding ring, two small springs and a large spring with different elastic coefficients are arranged in the shaft sleeve, the sliding plate and the sliding ring are both connected in the shaft sleeve in a sliding mode along the axis of the shaft sleeve, the large spring is sleeved on the outer side of the small spring, a first sliding groove and a second sliding groove for the sliding plate and the sliding ring to slide are arranged in the shaft sleeve, the length of the first sliding groove is larger than that of the second sliding groove, one end of the small spring is in contact with the sliding plate, one end of the large spring is in contact with the sliding ring, the sliding plate is in contact with the sliding ring in the sliding process of the shaft sleeve, and the connecting rod penetrates out of one end of the shaft sleeve and is connected with the guardrail plate. This buffering subassembly can improve the ability of the great impact of robot reply.

Description

机器人防撞缓冲组件Robotic anti-collision buffer components

技术领域technical field

本实用新型涉及机械人设备领域,具体涉及机器人防撞缓冲组件。The utility model relates to the field of robot equipment, in particular to a robot anti-collision buffer assembly.

背景技术Background technique

机器人在调试、运行的过程中,难免会受到一些碰撞,较大的碰撞会影响机器人内部的电气元件运行。In the process of debugging and running the robot, it is inevitable that some collisions will occur, and the larger collision will affect the operation of the electrical components inside the robot.

一般的机器人缓冲组件,都是通过弹簧作为缓冲件实现减少撞击力的。但是,一般的机器人都是采用单独一个弹簧,单个弹簧的弹性系数是不会变的,所以,在机器人受到撞击时,缓冲能力也是不变的,无法应对超出该弹簧缓冲能力的撞击力。The general robot buffer components use springs as buffers to reduce the impact force. However, general robots use a single spring, and the elastic coefficient of a single spring does not change. Therefore, when the robot is impacted, the buffering capacity is also unchanged, and it cannot cope with the impact force exceeding the buffering capacity of the spring.

发明内容SUMMARY OF THE INVENTION

为克服现有技术的不足,本实用新型提出机器人防撞缓冲组件,其能提高机器人应对较大的撞击力的能力。In order to overcome the deficiencies of the prior art, the present invention proposes a robot anti-collision buffer assembly, which can improve the robot's ability to cope with a large impact force.

为实现上述目的,本实用新型的一种机器人防撞缓冲组件,包括护栏板、多个缓冲件,缓冲件包括轴套、连接杆,轴套内部设有滑板、滑环、两个弹性系数不同的小弹簧和大弹簧,滑板、滑环均沿轴套的轴线滑动连接在轴套中,大弹簧套在小弹簧的外侧,轴套内部设有供滑板和滑环滑动的第一滑槽和第二滑槽,第一滑槽的长度大于第二滑槽的长度,小弹簧的一端与滑板接触,大弹簧一端与滑环接触,滑板沿轴套滑动过程中,滑板与滑环接触,连接杆从轴套的一端穿出并与护栏板连接。In order to achieve the above purpose, a robot anti-collision buffer assembly of the present invention includes a guardrail plate and a plurality of buffer parts. The buffer part includes a shaft sleeve and a connecting rod. The small spring and the large spring, the slide plate and the slip ring are all slidably connected to the shaft sleeve along the axis of the shaft sleeve, the large spring is sleeved on the outside of the small spring, and the inside of the shaft sleeve is provided with a first chute and a sliding groove for sliding the slide ring and the slip ring. The second chute, the length of the first chute is greater than the length of the second chute, one end of the small spring is in contact with the sliding plate, and one end of the large spring is in contact with the slip ring, during the sliding process of the sliding plate along the shaft sleeve, the sliding plate is in contact with the slip ring and is connected The rod passes through one end of the shaft sleeve and is connected with the guardrail plate.

进一步地,轴套远离连接杆的一端设有螺塞,螺塞的周壁与轴套的内壁螺纹连接,大弹簧和小弹簧的另一端均与螺塞的表面接触。Further, one end of the shaft sleeve away from the connecting rod is provided with a screw plug, the peripheral wall of the screw plug is threadedly connected with the inner wall of the shaft sleeve, and the other ends of the large spring and the small spring are both in contact with the surface of the screw plug.

进一步地,螺塞上一体设置有安装板,安装板上设有多个螺孔,缓冲件的一端通过安装板与螺栓连接在机器人上。Further, a mounting plate is integrally provided on the screw plug, the mounting plate is provided with a plurality of screw holes, and one end of the buffer is connected to the robot through the mounting plate and the bolt.

进一步地,连接杆的周壁上沿径向一体设置有多个卡杆,护栏板上设有导套,导套上设有多个卡槽,连接杆沿导套的轴线插入到导套中,并且卡杆滑动在卡槽中,导套的外侧螺纹连接有螺母,螺母与卡杆接触,并将卡杆压紧在卡槽底侧表面。Further, the peripheral wall of the connecting rod is integrally provided with a plurality of clamping rods along the radial direction, the guardrail is provided with a guide sleeve, and the guide sleeve is provided with a plurality of clamping grooves, and the connecting rod is inserted into the guide sleeve along the axis of the guide sleeve, The clamping rod slides in the clamping groove, the outer side of the guide sleeve is threadedly connected with a nut, and the nut contacts the clamping rod and presses the clamping rod on the bottom side surface of the clamping groove.

进一步地,滑环呈圆环形,滑环的上表面粘接有橡胶垫。Further, the slip ring is in the shape of a circular ring, and a rubber pad is adhered to the upper surface of the slip ring.

有益效果:受冲击时,先由连接杆带着滑板压缩小弹簧,当撞击力足够大时,滑板会进一步与滑环接触,滑环压缩大弹簧,由于大弹簧和小弹簧的弹性系数不同,所以缓冲能力会变化,提高了应对大冲击力的能力。Beneficial effects: When impacted, the small spring is first compressed by the connecting rod with the sliding plate. When the impact force is large enough, the sliding plate will further contact the slip ring, and the slip ring compresses the large spring. Due to the different elastic coefficients of the large spring and the small spring, Therefore, the buffer capacity will change, improving the ability to deal with large shocks.

附图说明Description of drawings

下面结合附图对本实用新型作进一步描写和阐述。The present utility model will be further described and explained below in conjunction with the accompanying drawings.

图1是本实用新型首选实施方式的整体的结构示意图。FIG. 1 is a schematic diagram of the overall structure of the preferred embodiment of the present invention.

图2是缓冲件的结构示意图。FIG. 2 is a schematic view of the structure of the buffer.

附图标记:1、护栏板;2、缓冲件;3、轴套;4、连接杆;5、滑板;6、滑环;7、小弹簧;8、大弹簧;9、第一滑槽;10、第二滑槽;11、螺塞;12、安装板;13、卡杆;14、导套;15、卡槽;16、螺母。Reference numerals: 1, guardrail plate; 2, buffer; 3, shaft sleeve; 4, connecting rod; 5, slide plate; 6, slip ring; 7, small spring; 8, large spring; 9, first chute; 10, the second chute; 11, the screw plug; 12, the mounting plate; 13, the clamping rod; 14, the guide sleeve; 15, the clamping groove; 16, the nut.

具体实施方式Detailed ways

下面将结合附图、通过对本实用新型的优选实施方式的描述,更加清楚、完整地阐述本实用新型的技术方案。The technical solutions of the present invention will be more clearly and completely described below through the description of the preferred embodiments of the present invention with reference to the accompanying drawings.

如图1所示,本实用新型首选实施方式的机器人防撞缓冲组件,包括护栏板1、多个缓冲件2,缓冲件2的一端与护栏板1连接,缓冲件2的另一端与机器人连接,机器人受力撞击到护栏板1上,通过缓冲件2进行缓冲。As shown in FIG. 1 , the robot anti-collision buffer assembly of the preferred embodiment of the present invention includes a guardrail plate 1 and a plurality of buffer members 2. One end of the buffer member 2 is connected to the guardrail plate 1, and the other end of the buffer member 2 is connected to the robot. , the robot is impacted on the guardrail 1 by force, and is buffered by the buffer 2.

缓冲件2包括轴套3、连接杆4,轴套3内部设有滑板5、滑环6、两个弹性系数不同的小弹簧7和大弹簧8。The buffer part 2 includes a shaft sleeve 3 and a connecting rod 4. Inside the shaft sleeve 3 are a sliding plate 5, a slip ring 6, two small springs 7 and large springs 8 with different elastic coefficients.

连接杆4与滑板5固定连接,连接杆4连接在护栏板1上。滑板5能沿轴套3的轴线滑动,在轴套3的内部设有供滑板5滑动的第一滑槽9,小弹簧7的一端与滑板5接触,护栏板1受到撞击力,滑板5立马压缩小弹簧7。滑环6也处于轴套3的内部,且滑环6同样能沿着轴套3的轴线滑动,轴套3的内部设有供滑环6滑动的第二滑槽10,第一滑槽9的长度要长于第二滑槽10。滑套要沿着轴套3滑动一定距离后,才能与滑环6接触。大弹簧8的一端与滑环6接触,滑环6的移动会压缩大弹簧8。The connecting rod 4 is fixedly connected to the sliding plate 5 , and the connecting rod 4 is connected to the guardrail board 1 . The sliding plate 5 can slide along the axis of the shaft sleeve 3, and a first chute 9 is provided inside the shaft sleeve 3 for the sliding plate 5 to slide. Compress the small spring 7. The slip ring 6 is also inside the sleeve 3, and the slip ring 6 can also slide along the axis of the sleeve 3. The inside of the sleeve 3 is provided with a second chute 10 for sliding the slip ring 6, a first chute 9 is longer than the second chute 10. The sliding sleeve must slide along the shaft sleeve 3 for a certain distance before it can come into contact with the slip ring 6 . One end of the large spring 8 is in contact with the slip ring 6 , and the movement of the slip ring 6 will compress the large spring 8 .

缓冲过程:Buffering process:

护栏板1受撞击,护栏板1通过连接杆4使滑板5移动,滑板5压缩小弹簧7,由小弹簧7实现缓冲。随着滑板5持续滑动,滑板5的下表面与滑环6的上表面接触,滑板5进一步使滑环6移动,滑环6移动并压缩大弹簧8。由于大弹簧8和小弹簧7的弹性系数不同,所以大弹簧8和小弹簧7缓冲撞击的力的能力不同,大撞击力时,可以提高了应对大冲击力的能力,在小撞击力,小弹簧7压缩更容易。使缓冲效果依据撞击力的不同而产生适应性。When the guardrail 1 is hit, the guardrail 1 moves the sliding plate 5 through the connecting rod 4 , and the sliding plate 5 compresses the small spring 7 , which realizes buffering. As the sliding plate 5 continues to slide, the lower surface of the sliding plate 5 contacts the upper surface of the slip ring 6 , the sliding plate 5 further moves the slip ring 6 , and the slip ring 6 moves and compresses the large spring 8 . Because the elastic coefficients of the large spring 8 and the small spring 7 are different, the ability of the large spring 8 and the small spring 7 to buffer the impact force is different. When the impact force is large, the ability to deal with the large impact force can be improved. Spring 7 compresses easier. Make the buffering effect adaptable according to the impact force.

滑环6呈圆环形,滑环6的上表面粘接有橡胶垫。滑板5与滑环6撞击时,橡胶垫可以减弱产生造音。The slip ring 6 is in the shape of a circular ring, and a rubber pad is adhered to the upper surface of the slip ring 6 . When the sliding plate 5 collides with the sliding ring 6, the rubber pad can weaken the sound generation.

轴套3远离连接杆4的一端设有螺塞11,螺塞11的周壁与轴套3的内壁螺纹连接,螺塞11用于供大弹簧8和小弹簧7的另一端接触,在螺塞11上一体设置有安装板12,安装板12上设有多个螺孔,通过螺孔穿插螺栓,并通过螺栓与安装板12,将缓冲件2安装在机器人上。The end of the shaft sleeve 3 away from the connecting rod 4 is provided with a screw plug 11. The peripheral wall of the screw plug 11 is threadedly connected to the inner wall of the shaft sleeve 3. The screw plug 11 is used for the contact between the other ends of the large spring 8 and the small spring 7. 11 is integrally provided with a mounting plate 12, the mounting plate 12 is provided with a plurality of screw holes, bolts are inserted through the screw holes, and the buffer member 2 is mounted on the robot through the bolts and the mounting plate 12.

连接杆4的周壁上沿径向一体设置有多个卡杆13,护栏板1上设有导套14,导套14上设有多个卡槽15,连接杆4沿导套14的轴线插入到导套14中,同时,卡杆13滑动在卡槽15中并处于卡槽15的底部,导套14的外侧螺纹连接有螺母16,螺母16与卡杆13接触,从而将卡杆13压紧在卡槽15底侧表面,即连接杆4与护栏板1实现连接。The peripheral wall of the connecting rod 4 is integrally provided with a plurality of clamping rods 13 along the radial direction, the guardrail plate 1 is provided with a guide sleeve 14 , and the guide sleeve 14 is provided with a plurality of clamping grooves 15 , and the connecting rod 4 is inserted along the axis of the guide sleeve 14 into the guide sleeve 14, at the same time, the clamping rod 13 slides in the clamping groove 15 and is at the bottom of the clamping groove 15, the outer side of the guide sleeve 14 is threadedly connected with a nut 16, and the nut 16 contacts the clamping rod 13, thereby pressing the clamping rod 13. Close to the bottom surface of the card slot 15 , that is, the connecting rod 4 is connected with the guardrail plate 1 .

上述具体实施方式仅仅对本实用新型的优选实施方式进行描述,而并非对本实用新型的保护范围进行限定。在不脱离本实用新型设计构思和精神范畴的前提下,本领域的普通技术人员根据本实用新型所提供的文字描述、附图对本实用新型的技术方案所作出的各种变形、替代和改进,均应属于本实用新型的保护范畴。本实用新型的保护范围由权利要求确定。The above-mentioned specific embodiments merely describe the preferred embodiments of the present invention, but do not limit the protection scope of the present invention. Under the premise of not departing from the design concept and spirit scope of the present invention, various modifications, substitutions and improvements made to the technical solutions of the present invention by those of ordinary skill in the art according to the text description and accompanying drawings provided by the present invention, All should belong to the protection category of the present invention. The protection scope of the present invention is determined by the claims.

Claims (5)

1.一种机器人防撞缓冲组件,包括护栏板、多个缓冲件,其特征在于,所述缓冲件包括轴套、连接杆,所述轴套内部设有滑板、滑环、两个弹性系数不同的小弹簧和大弹簧,所述滑板、滑环均沿轴套的轴线滑动连接在轴套中,所述大弹簧套在小弹簧的外侧,所述轴套内部设有供滑板和滑环滑动的第一滑槽和第二滑槽,所述第一滑槽的长度大于第二滑槽的长度,所述小弹簧的一端与滑板接触,所述大弹簧一端与滑环接触,所述滑板沿轴套滑动过程中,所述滑板与滑环接触,所述连接杆从轴套的一端穿出并与护栏板连接。1. A robot anti-collision buffer assembly, comprising a guardrail plate and a plurality of buffer parts, wherein the buffer part comprises a shaft sleeve and a connecting rod, and the shaft sleeve is internally provided with a slide plate, a slip ring, two elastic coefficients For different small springs and large springs, the sliding plate and the slip ring are all slidably connected to the shaft sleeve along the axis of the shaft sleeve, the large spring is sleeved on the outside of the small spring, and the inside of the shaft sleeve is provided with the sliding plate and the slip ring. The first and second sliding grooves are sliding, the length of the first sliding groove is greater than the length of the second sliding groove, one end of the small spring is in contact with the sliding plate, one end of the large spring is in contact with the slip ring, the During the sliding process of the sliding plate along the shaft sleeve, the sliding plate contacts with the slip ring, and the connecting rod passes through one end of the shaft sleeve and is connected with the guardrail plate. 2.根据权利要求1所述的机器人防撞缓冲组件,其特征在于,所述轴套远离连接杆的一端设有螺塞,所述螺塞的周壁与轴套的内壁螺纹连接,所述大弹簧和小弹簧的另一端均与螺塞的表面接触。2 . The robot anti-collision buffer assembly according to claim 1 , wherein a screw plug is provided at one end of the bushing away from the connecting rod, and the peripheral wall of the screw plug is threadedly connected with the inner wall of the bushing. 3 . The other ends of both the spring and the small spring are in contact with the surface of the plug. 3.根据权利要求2所述的机器人防撞缓冲组件,其特征在于,所述螺塞上一体设置有安装板,所述安装板上设有多个螺孔,所述缓冲件的一端通过安装板与螺栓连接在机器人上。3 . The robot anti-collision buffer assembly according to claim 2 , wherein a mounting plate is integrally provided on the screw plug, the mounting plate is provided with a plurality of screw holes, and one end of the buffer member is installed through the The plate is attached to the robot with bolts. 4.根据权利要求1所述的机器人防撞缓冲组件,其特征在于,所述连接杆的周壁上沿径向一体设置有多个卡杆,所述护栏板上设有导套,所述导套上设有多个卡槽,所述连接杆沿导套的轴线插入到导套中,并且所述卡杆滑动在卡槽中,所述导套的外侧螺纹连接有螺母,所述螺母与卡杆接触,并将所述卡杆压紧在卡槽底侧表面。4 . The robot anti-collision buffer assembly according to claim 1 , wherein a plurality of clamping rods are integrally provided on the peripheral wall of the connecting rod along the radial direction, the guardrail is provided with a guide sleeve, and the guide The sleeve is provided with a plurality of clamping grooves, the connecting rod is inserted into the guiding sleeve along the axis of the guiding sleeve, and the clamping rod slides in the clamping groove, the outer side of the guiding sleeve is threadedly connected with a nut, and the nut is connected with the guide sleeve. The clamping rod contacts and presses the clamping rod against the bottom side surface of the clamping slot. 5.根据权利要求1所述的机器人防撞缓冲组件,其特征在于,所述滑环呈圆环形,所述滑环的上表面粘接有橡胶垫。5 . The robot anti-collision buffer assembly according to claim 1 , wherein the slip ring is in the shape of a circular ring, and a rubber pad is adhered to the upper surface of the slip ring. 6 .
CN202123142764.9U 2021-12-14 2021-12-14 Robot anticollision buffering subassembly Expired - Fee Related CN216707554U (en)

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Granted publication date: 20220610